version: 66.04
glider: 515
mission: 5
dive: 308
start: 7 26 110 16 19 28
data:
$ID,515
$MISSION,5
$DIVE,308
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,440
$T_MISSION,500
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-14
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51931
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2841
$TGT_DEFAULT_LON,-8830
$TGT_AUTO_DEFAULT,0
$SM_CC,597.54108
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-25157.906
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,205
$PITCH_MAX,3967
$C_PITCH,2747
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,27
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,159
$ROLL_MAX,3575
$ROLL_DEG,25
$C_ROLL_DIVE,2325
$C_ROLL_CLIMB,2275
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,404
$VBD_MAX,3959
$C_VBD,2840
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-42.932224
$PRESSURE_SLOPE,0.00011628702
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043524536
$SEABIRD_T_H,0.00062548812
$SEABIRD_T_I,2.3784551e-05
$SEABIRD_T_J,2.5490917e-06
$SEABIRD_C_G,-10.141768
$SEABIRD_C_H,1.1640214
$SEABIRD_C_I,-0.00094225706
$SEABIRD_C_J,0.0001682234
$GPS1,160725,2843.619,-8827.409,38,1.2,38,-0.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-68.2
$GPS2,161831,2843.850,-8827.194,10,1.2,10,-0.4
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0617E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.204,0.168
$KALMAN_X,78621.8,-457.4,-214.5,-40663.0,4414.1
$KALMAN_Y,-466439.1,79.7,-84.2,495150.5,-4524.9
$MHEAD_RNG_PITCHd_Wd,263.3,29047,-10.8,-7.500
$D_GRID,1430
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.64,-194.6,0.0,0.0,0,70,0.00,0.00,-53.88,0.000,2,0.000,0.000,192,2349,1960
$GC,72,-0.64,-194.6,3.2,-3.0,5,133,10.48,1.35,-47.10,0.000,4,0.249,0.054,2538,1420,3634
$GC,169,-0.64,-194.6,14.2,-19.9,13,176,0.00,1.33,0.00,0.000,6,0.000,0.048,2535,2335,3636
$GC,362,-0.64,-194.6,50.8,-13.7,32,365,0.00,1.48,0.00,0.000,4,0.000,0.042,2528,3220,3636
$GC,448,-0.64,-194.6,63.5,-15.7,40,450,0.00,1.45,0.00,0.000,6,0.000,0.025,2528,2319,3636
$GC,644,-0.64,-194.6,89.1,-13.0,59,647,0.00,1.20,0.00,0.000,4,0.000,0.032,2527,1413,3637
$GC,809,-0.64,-194.6,109.9,-13.3,74,817,0.00,1.25,0.00,0.000,6,0.000,0.032,2522,2326,3637
$GC,1127,-0.64,-194.6,149.2,-11.6,105,1130,0.00,1.23,0.00,0.000,4,0.000,0.033,2522,1425,3636
$GC,1191,-0.64,-194.6,156.8,-11.3,111,1194,0.00,1.23,0.00,0.000,6,0.000,0.034,2516,2322,3637
$GC,1513,-0.64,-194.6,196.4,-12.1,142,1516,0.00,1.23,0.00,0.000,4,0.000,0.032,2516,1419,3634
$GC,1571,-0.64,-194.6,203.7,-12.5,147,1578,0.08,1.25,0.00,0.000,6,0.136,0.034,2535,2324,3634
$GC,1887,-0.64,-194.6,237.1,-10.3,178,1891,0.00,1.23,0.00,0.000,4,0.000,0.034,2536,1423,3632
$GC,1973,-0.64,-194.6,245.7,-9.9,186,1976,0.00,1.25,0.00,0.000,6,0.000,0.035,2532,2326,3632
$GC,2296,-0.64,-194.6,279.5,-10.0,217,2299,0.00,1.25,0.00,0.000,4,0.000,0.035,2532,1410,3629
$GC,2414,-0.64,-194.6,291.8,-10.9,228,2416,0.00,1.27,0.00,0.000,6,0.000,0.036,2526,2328,3628
$GC,2736,-0.64,-194.6,327.2,-11.7,259,2740,0.00,1.25,0.00,0.000,4,0.000,0.036,2527,1419,3626
$GC,2815,-0.64,-194.6,336.4,-11.1,266,2824,0.00,1.27,0.00,0.000,6,0.000,0.037,2521,2329,3625
$GC,3134,-0.64,-194.6,372.7,-11.0,297,3137,0.00,1.25,0.00,0.000,4,0.000,0.038,2521,1431,3623
$GC,3284,-0.64,-194.6,389.9,-11.6,311,3286,0.00,1.25,0.00,0.000,6,0.000,0.039,2515,2325,3621
$GC,3606,-0.64,-194.6,426.2,-11.3,342,3610,0.00,1.25,0.00,0.000,4,0.000,0.039,2515,1419,3619
$GC,3717,-0.64,-194.6,438.7,-11.5,352,3725,0.08,1.27,0.00,0.000,6,0.140,0.039,2534,2326,3618
$GC,4034,-0.64,-194.6,468.2,-9.5,383,4037,0.00,1.25,0.00,0.000,4,0.000,0.039,2534,1428,3616
$GC,4091,-0.64,-194.6,473.6,-9.3,388,4098,0.00,1.27,0.00,0.000,6,0.000,0.040,2531,2329,3615
$GC,4409,-0.64,-194.6,503.9,-9.8,419,4413,0.00,1.27,0.00,0.000,4,0.000,0.041,2531,1415,3613
$GC,4516,-0.64,-194.6,514.6,-10.1,429,4519,0.00,1.27,0.00,0.000,6,0.000,0.041,2525,2322,3612
$GC,4839,-0.64,-194.6,547.3,-10.7,460,4842,0.00,1.25,0.00,0.000,4,0.000,0.039,2525,1429,3609
$GC,4903,-0.64,-194.6,553.9,-9.8,466,4907,0.00,1.27,0.00,0.000,6,0.000,0.041,2520,2329,3609
$GC,5226,-0.64,-194.6,588.2,-10.7,497,5229,0.00,1.27,0.00,0.000,4,0.000,0.041,2520,1424,3606
$GC,5290,-0.64,-194.6,595.2,-11.2,503,5293,0.00,1.27,0.00,0.000,6,0.000,0.043,2514,2324,3606
$GC,5613,-0.64,-194.6,630.7,-11.0,534,5616,0.00,1.25,0.00,0.000,4,0.000,0.041,2514,1436,3602
$GC,5670,-0.64,-194.6,637.6,-11.2,539,5678,0.08,1.27,0.00,0.000,6,0.143,0.042,2534,2327,3603
$GC,5987,-0.64,-194.6,667.6,-9.4,570,5990,0.00,1.25,0.00,0.000,4,0.000,0.041,2534,1439,3601
$GC,6029,-0.64,-194.6,671.6,-9.2,574,6032,0.00,1.27,0.00,0.000,6,0.000,0.044,2531,2329,3601
$GC,6353,-0.64,-194.6,700.9,-8.8,605,6355,0.00,1.27,0.00,0.000,4,0.000,0.042,2530,1424,3598
$GC,6388,-0.64,-194.6,704.7,-9.3,608,6396,0.00,1.30,0.00,0.000,6,0.000,0.044,2525,2329,3599
$GC,6707,-0.64,-194.6,733.2,-8.8,639,6709,0.00,1.27,0.00,0.000,4,0.000,0.042,2525,1433,3596
$GC,6765,-0.64,-194.6,738.6,-8.7,644,6771,0.00,1.27,0.00,0.000,6,0.000,0.044,2519,2323,3596
$GC,7082,-0.64,-194.6,768.5,-9.3,675,7083,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2324,3594
$GC,7392,-0.64,-194.6,797.0,-9.3,705,7395,0.00,1.27,0.00,0.000,4,0.000,0.044,2520,1423,3592
$GC,7435,-0.64,-194.6,801.1,-10.1,709,7437,0.00,1.30,0.00,0.000,6,0.000,0.044,2514,2327,3592
$GC,7757,-0.64,-194.6,832.0,-9.7,740,7758,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2327,3590
$GC,8066,-0.64,-194.6,862.6,-9.8,770,8069,0.00,1.27,0.00,0.000,4,0.000,0.044,2514,1436,3589
$GC,8134,-0.64,-194.6,869.9,-10.3,776,8142,0.08,1.27,0.00,0.000,6,0.146,0.044,2532,2322,3588
$GC,8451,-0.64,-194.6,897.4,-8.6,807,8454,0.00,1.27,0.00,0.000,4,0.000,0.043,2533,1422,3587
$GC,8487,-0.64,-194.6,900.6,-8.4,810,8495,0.00,1.30,0.00,0.000,6,0.000,0.045,2529,2322,3587
$GC,8806,-0.64,-194.6,927.9,-8.3,841,8806,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2322,3585
$GC,9114,-0.64,-194.6,954.0,-8.4,871,9115,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2322,3585
$GC,9425,-0.64,-194.6,979.9,-8.5,901,9428,0.00,1.27,0.00,0.000,4,0.000,0.044,2529,1429,3584
$GC,9478,-0.64,-194.6,984.4,-8.8,906,9481,0.00,1.30,0.00,0.000,6,0.000,0.048,2524,2326,3584
$STATE,9549,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9549,begin apogee
$GC,9554,-0.26,0.0,990.6,8.4,913,9712,0.45,0.00,152.88,1.243,6,0.132,0.000,2660,2275,2840
$STATE,9713,end apogee,CONTROL_FINISHED_OK
$STATE,9713,begin climb
$GC,9715,0.64,194.6,995.3,0.0,929,9892,0.90,1.77,171.23,1.214,4,0.099,0.059,2945,3151,2045
$GC,9916,0.64,194.6,980.1,10.9,948,9922,0.00,1.62,0.00,0.000,6,0.000,0.035,2952,2273,2040
$GC,10234,0.64,194.6,943.2,11.7,979,10237,0.00,1.62,0.00,0.000,4,0.000,0.055,2952,3163,2034
$GC,10265,0.64,194.6,939.1,12.8,982,10268,0.00,1.55,0.00,0.000,6,0.000,0.036,2960,2268,2033
$GC,10589,0.64,194.6,900.0,12.1,1013,10592,0.00,1.60,0.00,0.000,4,0.000,0.055,2959,3170,2032
$GC,10631,0.64,194.6,894.2,12.8,1017,10634,0.00,1.55,0.00,0.000,6,0.000,0.036,2967,2267,2030
$GC,10954,0.64,194.6,852.8,12.6,1048,10957,0.00,1.62,0.00,0.000,4,0.000,0.054,2967,3167,2030
$GC,10990,0.64,194.6,847.8,13.2,1051,10997,0.00,1.52,0.00,0.000,6,0.000,0.035,2974,2275,2029
$GC,11308,0.64,194.6,805.9,13.2,1082,11311,0.00,1.60,0.00,0.000,4,0.000,0.055,2974,3157,2029
$GC,11333,0.64,194.6,801.9,15.2,1084,11341,0.00,1.52,0.00,0.000,6,0.000,0.035,2982,2270,2028
$GC,11652,0.64,194.6,757.4,14.2,1115,11655,0.00,1.62,0.00,0.000,4,0.000,0.054,2981,3190,2028
$GC,11721,0.64,194.6,747.0,13.8,1121,11728,0.10,1.58,0.00,0.000,6,0.150,0.035,2959,2272,2028
$GC,12037,0.64,194.6,709.4,11.4,1152,12038,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2273,2027
$GC,12348,0.64,194.6,673.7,11.1,1182,12350,0.00,1.60,0.00,0.000,4,0.000,0.054,2958,3177,2027
$GC,12373,0.64,194.6,670.6,13.2,1184,12380,0.00,1.55,0.00,0.000,6,0.000,0.035,2964,2274,2027
$GC,12691,0.64,194.6,634.5,11.0,1215,12694,0.00,1.60,0.00,0.000,4,0.000,0.054,2964,3178,2027
$GC,12712,0.64,194.6,631.6,12.1,1217,12715,0.00,1.55,0.00,0.000,6,0.000,0.035,2972,2274,2027
$GC,13035,0.64,194.6,592.5,12.4,1248,13038,0.00,1.60,0.00,0.000,4,0.000,0.053,2971,3159,2027
$GC,13111,0.64,194.6,582.5,13.7,1255,13114,0.00,1.52,0.00,0.000,6,0.000,0.036,2979,2275,2026
$GC,13434,0.64,194.6,541.2,12.7,1286,13437,0.00,1.60,0.00,0.000,4,0.000,0.053,2979,3183,2026
$GC,13466,0.64,194.6,536.4,13.6,1289,13469,0.10,1.58,0.00,0.000,6,0.143,0.035,2956,2270,2025
$GC,13786,0.64,194.6,501.4,10.4,1320,13787,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2271,2027
$GC,14097,0.64,194.6,466.9,10.9,1350,14098,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2271,2025
$GC,14408,0.64,194.6,432.7,11.4,1380,14411,0.00,1.60,0.00,0.000,4,0.000,0.051,2955,3174,2026
$GC,14433,0.64,194.6,429.6,12.0,1382,14442,0.00,1.55,0.00,0.000,6,0.000,0.034,2961,2272,2026
$GC,14752,0.64,194.6,393.7,11.6,1413,14755,0.00,1.60,0.00,0.000,4,0.000,0.051,2961,3177,2026
$GC,14794,0.64,194.6,388.3,11.8,1417,14797,0.00,1.55,0.00,0.000,6,0.000,0.034,2969,2271,2026
$GC,15115,0.64,194.6,349.8,12.1,1448,15118,0.00,1.60,0.00,0.000,4,0.000,0.051,2969,3177,2026
$GC,15141,0.64,194.6,346.6,12.4,1450,15149,0.00,1.55,0.00,0.000,6,0.000,0.033,2976,2271,2026
$GC,15459,0.64,194.6,307.3,12.1,1481,15462,0.00,1.60,0.00,0.000,4,0.000,0.050,2976,3177,2025
$GC,15502,0.64,194.6,301.6,12.6,1485,15504,0.00,1.55,0.00,0.000,6,0.000,0.033,2984,2272,2026
$GC,15824,0.64,194.6,261.9,12.4,1516,15825,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2273,2026
$GC,16133,0.64,194.6,222.9,12.2,1546,16136,0.12,1.58,0.00,0.000,4,0.153,0.048,2950,3163,2026
$GC,16191,0.64,194.6,216.4,9.5,1551,16198,0.00,1.52,0.00,0.000,6,0.000,0.031,2956,2269,2026
$GC,16509,0.64,194.6,183.6,10.1,1582,16510,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2270,2026
$GC,16818,0.64,194.6,152.1,9.9,1612,16821,0.00,1.60,0.00,0.000,4,0.000,0.048,2955,3184,2027
$GC,16914,0.64,194.6,142.2,11.4,1621,16917,0.00,1.55,0.00,0.000,6,0.000,0.031,2962,2270,2027
$GC,17235,0.64,194.6,109.7,10.1,1652,17238,0.00,1.60,0.00,0.000,4,0.000,0.047,2962,3188,2028
$GC,17292,0.64,194.6,103.4,10.4,1657,17300,0.00,1.52,0.00,0.000,6,0.000,0.029,2970,2277,2028
$GC,17611,0.64,194.6,70.6,9.6,1688,17612,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2277,2029
$GC,17795,0.64,194.6,54.9,8.2,1706,17798,0.00,1.20,0.00,0.000,4,0.000,0.036,2975,1367,2030
$GC,17838,0.67,218.3,51.2,6.9,1710,17863,0.00,1.23,17.70,0.523,6,0.000,0.037,2975,2277,1950
$GC,18049,0.77,302.1,36.9,5.3,1730,18122,0.00,1.60,64.82,0.532,4,0.000,0.048,2975,3164,1607
$GC,18154,0.92,418.3,32.3,4.4,1739,18249,0.10,1.52,87.62,0.522,6,0.049,0.028,3064,2268,1133
$GC,18432,0.92,418.3,8.2,8.1,1765,18435,0.00,1.17,0.00,0.000,4,0.000,0.033,3070,1375,1126
$GC,18464,0.92,418.3,5.8,8.2,1768,18467,0.00,1.23,0.00,0.000,6,0.000,0.035,3069,2276,1126
$STATE,18504,end climb,SURFACE_DEPTH_REACHED
$STATE,18504,begin surface coast
$FINISH,0.7,1.003160
$STATE,18535,end surface coast,CONTROL_FINISHED_OK
$STATE,18535,begin surface
$SM_CCo,18551,88.78,0.487,0,0,403,597.54
$SM_GC,1.63,0.00,0.00,88.78,0.000,0.000,0.487,200,2339,403,-7.96,0.37,597.54
$IRIDIUM_FIX,2833.46,-8829.10,201099,161626
$TT8_MAMPS,0.049855
$HUMID,1421
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,23.40
$XPDR_PINGS,2
$24V_AH,22.6,53.843
$10V_AH,10.5,74.160
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,20.250,118.050,494.250,88.775,0.000,47.162,54.267,363.336,0.500,0.000,0.000,12.192,0.000,12297.884,676.323,5414.670,905.695,33.346,2262.789,0.000,4832.627,0.000,0.544,0.000
$DEVICE_MAMPS,249.275,71.331,1243.307,487.045,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1213.769,1301.061,3989.548,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94474,1775
$CAP_FILE_SIZE,182187,0
$CFSIZE,260165632,227561472
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.119,121.2,1
$GPS,260710,213107,2842.495,-8828.968,36,1.0,36,-0.4